Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Autonomous Parking of a Model Car with Trajectory Tracking Motion Control using ANFIS

ANFIS 기반 경로추종 운동제어에 의한 모형차량의 자동주차

  • Published : 2009.12.01
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Abstract

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions

Keywords

References

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